Model-Predictive Undercarriage Control for a Pseudo-Omnidirectional, Wheeled Mobile Robot
Model-Predictive Undercarriage Control for a Pseudo-Omnidirectional, Wheeled Mobile Robot
复制标题
伪全向轮式移动机器人的模型预测底盘控制
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
A. Verl
中科院分区：
文献类型：
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作者：
C. Connette;Stefan Hofmeister;Alexander Bubeck;M. Hägele;A. Verl
高度的机动性和灵活性将是未来服务机器人成功部署的先决条件。目前，具有独立转向和驱动轮的伪全向轮式移动的机器人似乎在复杂性、灵活性和鲁棒性之间提供了坚实的折衷。然而，这样的起落架被施加致动器冲突的风险，并且遭受其配置空间内的奇异区域。在这项工作中，提出了一种模型预测控制（MPC）方法，解决了执行器协调和奇异性避免。控制问题是在系统速度空间的球坐标表示内处理的。MPC的方法是模拟和实验评估w.r.t.的Care-Obot R 3移动的机器人（图1）的底盘，并比较了早期开发的势场（PF）为基础的方法。
A high degree of mobility and flexibility will be a prerequisi te for the successful deployment of future service robots. Currently, pseudo-omnidirectional, wheeled mobile robots with independently steered and driven wheels seem to provide a solid compromise between complexity, flexibility and robu stness. Yet, such undercarriages are imposed to the risk of actuator fighting and suffer from singular regions within th eir configuration space. Within this work a model predictive control (MPC) approach is proposed that addresses both, actuator coordination and singularity avoidance. The control problem is treated within the spherical coordinate representation of the syste m’s velocity space. The MPC approach is simulative and experimentally evaluated w.r.t. the undercarriage of the Care-Obot R ⃝ 3 mobile robot (Figure 1) and is compared to an earlier developed potential field (PF) based approach.